| 摘要 |
PURPOSE:To provide an improvement in the accuracy of face perpendicularlity, stability in welding quality and a reduction in man-hour by transmitting a correction signal to a driving mechanism for a robot in such a manner than the deviation of the face perpendicularity of a welding gun is made zero. CONSTITUTION:The welding gun 2 is pressed at a depressing point P. A central processing unit CPU12 calculates the attitude of the gun 2 in such a manner that the gun 2 is positioned perpendicular to the face of a work 1 in accordance with the signal fed from a comparator 9 via a converter 11 and outputs a signal. The coordinate of the point P deviates as well when the CPU12 corrects the angle of a wrist axis 5 and therefore the CPU makes calculation and outputs the signal so as to maintain the specified P by operating simultaneously a basic axis 6 as well. The output signal from the CPU12 is fed via a digital/analog converter (D/A converter) 13 and an amplifier 14 to all axis motors 7, 8 to control the motors 7, 8. |
